snopt_adapter.h

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#ifndef IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_
#define IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_
 
#include <snoptProblem.hpp>
 
#include <ifopt/problem.h>
 
namespace ifopt {
 
class SnoptAdapter : public snoptProblemA {
 public:
  using NLPPtr   = Problem*;
  using VectorXd = Problem::VectorXd;
  using Jacobian = Problem::Jacobian;
 
  SnoptAdapter(Problem& nlp);
  virtual ~SnoptAdapter() = default;
 
  void Init();
  void SetVariables();
 
  static void ObjectiveAndConstraintFct(int* Status, int* n, double x[],
                                        int* needF, int* neF, double F[],
                                        int* needG, int* neG, double G[],
                                        char* cu, int* lencu, int iu[],
                                        int* leniu, double ru[], int* lenru);
 
 private:
  static NLPPtr nlp_;  // use raw pointer as SnoptAdapter doesn't own the nlp.
 
// additional variables as Snopt76 base class doesn't have them, not really
// necessary but to keep the same structure of the original SnoptAdapter
#ifdef SNOPT76
 
 public:
  int jacComputed = 0;
  int n           = 0;
  int neF         = 0;
  int ObjRow;
  double ObjAdd;
 
  double *x, *xlow, *xupp, *xmul;
  double *F, *Flow, *Fupp, *Fmul;
 
  int *xstate, *Fstate;
 
  int lenA, lenG, neA, neG;
  int *iAfun, *jAvar, *iGfun, *jGvar;
  double* A;
#endif
};
 
}  // namespace ifopt
 
#endif /* IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_ */